Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses
Cooperative vehicle platoon control has great potential in relieving traffic congestion, improving driving safety and fuel economy, which is closely related to the progress of communication technology, especially the development of vehicle-to-vehicle communication technology. However, in the real sc...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2022-12-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.06.100 |
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| _version_ | 1849224957099245568 |
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| author | TAN Yan HU Yunqing YUAN Xiwen BIAN Yougang QIN Zhaobo XU Biao HU Manjiang |
| author_facet | TAN Yan HU Yunqing YUAN Xiwen BIAN Yougang QIN Zhaobo XU Biao HU Manjiang |
| author_sort | TAN Yan |
| collection | DOAJ |
| description | Cooperative vehicle platoon control has great potential in relieving traffic congestion, improving driving safety and fuel economy, which is closely related to the progress of communication technology, especially the development of vehicle-to-vehicle communication technology. However, in the real scene, vehicle-to-vehicle communication is not ideal, and there are communication packets losses, delay and other phenomena, which affect the stability and tracking performance of the vehicle queue. For this reason, this paper studies the distributed cooperative control method of vehicle platoon in case of communication packets losses, and constructs a vehicle platoon system model considering Bernoulli packet loss model, then designs a distributed controller suitable for communication topology based on directed spanning tree with the leading vehicle as the root node. The relationship between packet loss probability and vehicle platoon stability is analyzed subsequently. Finally, we derives a sufficient condition to ensure the asymptotic stability of platoon, i.e., the inequality of the weight coefficient matrix of the cost function. The numerical simulation results show that when the designed vehicle platoon system model and distributed controller are used, and the weight coefficient matrix of the cost function satisfies the inequality conditions, if the probability of packet loss increases, the convergence time of the queuing tracking error will be prolonged, and the tracking error will increase. This verifies the negative correlation effect of packet loss probability on the stability and tracking performance of the designed distributed controller. |
| format | Article |
| id | doaj-art-78e7f7539f00499da93dca0f2a846ced |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2022-12-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-78e7f7539f00499da93dca0f2a846ced2025-08-25T06:47:54ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272022-12-01424932481945Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets LossesTAN YanHU YunqingYUAN XiwenBIAN YougangQIN ZhaoboXU BiaoHU ManjiangCooperative vehicle platoon control has great potential in relieving traffic congestion, improving driving safety and fuel economy, which is closely related to the progress of communication technology, especially the development of vehicle-to-vehicle communication technology. However, in the real scene, vehicle-to-vehicle communication is not ideal, and there are communication packets losses, delay and other phenomena, which affect the stability and tracking performance of the vehicle queue. For this reason, this paper studies the distributed cooperative control method of vehicle platoon in case of communication packets losses, and constructs a vehicle platoon system model considering Bernoulli packet loss model, then designs a distributed controller suitable for communication topology based on directed spanning tree with the leading vehicle as the root node. The relationship between packet loss probability and vehicle platoon stability is analyzed subsequently. Finally, we derives a sufficient condition to ensure the asymptotic stability of platoon, i.e., the inequality of the weight coefficient matrix of the cost function. The numerical simulation results show that when the designed vehicle platoon system model and distributed controller are used, and the weight coefficient matrix of the cost function satisfies the inequality conditions, if the probability of packet loss increases, the convergence time of the queuing tracking error will be prolonged, and the tracking error will increase. This verifies the negative correlation effect of packet loss probability on the stability and tracking performance of the designed distributed controller.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.06.100automatic driving vehiclevehicle platoondistributed cooperative controlcommunication packets lossesstability analysis |
| spellingShingle | TAN Yan HU Yunqing YUAN Xiwen BIAN Yougang QIN Zhaobo XU Biao HU Manjiang Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses Kongzhi Yu Xinxi Jishu automatic driving vehicle vehicle platoon distributed cooperative control communication packets losses stability analysis |
| title | Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses |
| title_full | Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses |
| title_fullStr | Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses |
| title_full_unstemmed | Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses |
| title_short | Distributed Cooperative Control of Multiple Vehicles Considering Communication Packets Losses |
| title_sort | distributed cooperative control of multiple vehicles considering communication packets losses |
| topic | automatic driving vehicle vehicle platoon distributed cooperative control communication packets losses stability analysis |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.06.100 |
| work_keys_str_mv | AT tanyan distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses AT huyunqing distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses AT yuanxiwen distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses AT bianyougang distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses AT qinzhaobo distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses AT xubiao distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses AT humanjiang distributedcooperativecontrolofmultiplevehiclesconsideringcommunicationpacketslosses |